dynamics.hpp

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#pragma once
 
#include "aligator/core/function-abstract.hpp"
 
namespace aligator {
template <typename _Scalar>
struct DynamicsModelTpl : StageFunctionTpl<_Scalar> {
  using Scalar = _Scalar;
  ALIGATOR_DYNAMIC_TYPEDEFS(Scalar);
  using Base = StageFunctionTpl<Scalar>;
  using Data = DynamicsDataTpl<Scalar>;
  using Manifold = ManifoldAbstractTpl<Scalar>;
  using ManifoldPtr = shared_ptr<Manifold>;
 
  ManifoldPtr space_;
  ManifoldPtr space_next_;
 
  const Manifold &space() const { return *space_; }
  const Manifold &space_next() const { return *space_next_; }
  virtual bool is_explicit() const { return false; }
 
  inline int nx1() const { return space_->nx(); }
  inline int nx2() const { return space_next_->nx(); }
 
  DynamicsModelTpl(ManifoldPtr space, const int nu);
 
  DynamicsModelTpl(ManifoldPtr space, const int nu, ManifoldPtr space2);
};
 
} // namespace aligator
 
#include "aligator/core/dynamics.hxx"
 
#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
#include "aligator/core/dynamics.txx"
#endif